The control design process, stability, sensitivity, robustness, the small-gain theorem, transfer function matrices, non-minimum-phase systems, disturbance models in the time domain and frequency domain, frequency-domain specifications, fundamental limitations and trade-offs, controller structures, the Youla parameterization and internal model control, sampled-data control, linear-quadratic optimization of state feedback and Kalman filter, model-predictive control, controller synthesis using convex optimization.